public int GetCacheEntry(ManifoldPoint newPoint)
{
//float shortestDist = GetContactBreakingThreshold() * GetContactBreakingThreshold();
float shortestDist = GetContactBreakingThreshold();
shortestDist *= shortestDist;
int size = GetNumContacts();
int nearestPoint = -1;
for (int i = 0; i < size; i++)
{
IndexedVector3 diffA = m_pointCache[i].GetLocalPointA() - newPoint.GetLocalPointA();
float distToManiPoint = diffA.LengthSquared();
if (distToManiPoint < shortestDist)
{
shortestDist = distToManiPoint;
nearestPoint = i;
}
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
BulletGlobals.g_streamWriter.WriteLine("getCacheEntry [{0}]", nearestPoint);
}
#endif
return(nearestPoint);
}
public void ClearUserCache(ref ManifoldPoint pt)
{
Object oldPtr = pt.m_userPersistentData;
if (oldPtr != null)
{
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
int occurance = 0;
for (int i = 0; i < m_cachedPoints; i++)
{
if (m_pointCache[i].m_userPersistentData == oldPtr)
{
occurance++;
if (occurance > 1)
{
BulletGlobals.g_streamWriter.WriteLine("error in clearUserCache\n");
}
}
}
//Debug.Assert(occurance<=0);
}
#endif
if (pt.m_userPersistentData != null && gContactDestroyedCallback != null)
{
gContactDestroyedCallback.Callback(pt.m_userPersistentData);
pt.m_userPersistentData = null;
}
DebugPersistency();
}
BulletGlobals.ManifoldPointPool.Free(pt);
pt = null;
}
public void ReplaceContactPoint(ManifoldPoint newPoint, int insertIndex)
{
Debug.Assert(ValidContactDistance(newPoint));
#if MAINTAIN_PERSISTENCY
int lifeTime = m_pointCache[insertIndex].GetLifeTime();
float appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
float appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
float appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
Debug.Assert(lifeTime >= 0);
Object cache = m_pointCache[insertIndex].GetUserPersistentData();
BulletGlobals.ManifoldPointPool.Free(m_pointCache[insertIndex]);
m_pointCache[insertIndex] = newPoint;
m_pointCache[insertIndex].SetUserPersistentData(cache);
m_pointCache[insertIndex].SetAppliedImpulse(appliedImpulse);
m_pointCache[insertIndex].SetAppliedImpulseLateral1(appliedLateralImpulse1);
m_pointCache[insertIndex].SetAppliedImpulseLateral2(appliedLateralImpulse2);
m_pointCache[insertIndex].m_constraintRow[0].m_accumImpulse = appliedImpulse;
m_pointCache[insertIndex].m_constraintRow[1].m_accumImpulse = appliedLateralImpulse1;
m_pointCache[insertIndex].m_constraintRow[2].m_accumImpulse = appliedLateralImpulse2;
m_pointCache[insertIndex].SetLifeTime(lifeTime);
#else
ClearUserCache(ref m_pointCache[insertIndex]);
m_pointCache[insertIndex] = newPoint;
#endif
}
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
public void RefreshContactPoints(ref IndexedMatrix trA, ref IndexedMatrix trB)
{
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "refreshContactPoints trA", trA._origin);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "refreshContactPoints trB", trB._origin);
}
/// first refresh worldspace positions and distance
int numContacts = GetNumContacts() - 1;
for (int i = numContacts; i >= 0; i--)
{
ManifoldPoint manifoldPoint = m_pointCache[i];
IndexedVector3 pointA = trA * manifoldPoint.GetLocalPointA();
IndexedVector3 pointB = trB * manifoldPoint.GetLocalPointB();
manifoldPoint.SetPositionWorldOnA(ref pointA);
manifoldPoint.SetPositionWorldOnB(ref pointB);
manifoldPoint.SetDistance(IndexedVector3.Dot((manifoldPoint.GetPositionWorldOnA() - manifoldPoint.GetPositionWorldOnB()), manifoldPoint.GetNormalWorldOnB()));
manifoldPoint.SetLifeTime(manifoldPoint.GetLifeTime() + 1);
m_pointCache[i] = manifoldPoint;
}
/// then
float distance2d;
IndexedVector3 projectedDifference, projectedPoint;
for (int i = numContacts; i >= 0; i--)
{
ManifoldPoint manifoldPoint = m_pointCache[i];
//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
if (!ValidContactDistance(manifoldPoint))
{
RemoveContactPoint(i);
}
else
{
//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
projectedPoint = manifoldPoint.GetPositionWorldOnA() - manifoldPoint.GetNormalWorldOnB() * manifoldPoint.GetDistance();
projectedDifference = manifoldPoint.GetPositionWorldOnB() - projectedPoint;
distance2d = IndexedVector3.Dot(projectedDifference, projectedDifference);
if (distance2d > GetContactBreakingThreshold() * GetContactBreakingThreshold())
{
RemoveContactPoint(i);
}
else
{
//contact point processed callback
if (gContactProcessedCallback != null)
{
gContactProcessedCallback.Callback(manifoldPoint, m_body0, m_body1);
}
}
}
}
DebugPersistency();
}
public int AddManifoldPoint(ManifoldPoint newPoint)
{
Debug.Assert(ValidContactDistance(newPoint));
int insertIndex = GetNumContacts();
if (insertIndex == MANIFOLD_CACHE_SIZE)
{
if (MANIFOLD_CACHE_SIZE >= 4)
{
//sort cache so best points come first, based on area
insertIndex = SortCachedPoints(newPoint);
}
else
{
insertIndex = 0;
}
ClearUserCache(ref m_pointCache[insertIndex]);
}
else
{
m_cachedPoints++;
}
if (insertIndex < 0)
{
insertIndex = 0;
}
//Debug.Assert(m_pointCache[insertIndex].GetUserPersistentData() == null);
m_pointCache[insertIndex] = newPoint;
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
BulletGlobals.g_streamWriter.WriteLine("addManifoldPoint[{0}][{1}]", insertIndex, m_cachedPoints);
MathUtil.PrintContactPoint(BulletGlobals.g_streamWriter, newPoint);
}
#endif
return(insertIndex);
}
protected void SetFrictionConstraintImpulse(ref SolverConstraint solverConstraint, RigidBody rb0, RigidBody rb1,
ManifoldPoint cp, ContactSolverInfo infoGlobal)
{
if (TestSolverMode(infoGlobal.m_solverMode, SolverMode.SOLVER_USE_FRICTION_WARMSTARTING))
{
{
SolverConstraint frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
if (TestSolverMode(infoGlobal.m_solverMode, SolverMode.SOLVER_USE_WARMSTARTING))
{
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0 != null)
{
rb0.InternalApplyImpulse(frictionConstraint1.m_contactNormal * rb0.GetInvMass(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse,"SetupFriction-rb0");
}
if (rb1 != null)
{
rb1.InternalApplyImpulse(frictionConstraint1.m_contactNormal * rb1.GetInvMass(), -frictionConstraint1.m_angularComponentB, -frictionConstraint1.m_appliedImpulse, "SetupFriction-rb1");
}
}
else
{
frictionConstraint1.m_appliedImpulse = 0f;
}
m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex] = frictionConstraint1;
}
if (TestSolverMode(infoGlobal.m_solverMode, SolverMode.SOLVER_USE_2_FRICTION_DIRECTIONS))
{
SolverConstraint frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1];
if (TestSolverMode(infoGlobal.m_solverMode, SolverMode.SOLVER_USE_WARMSTARTING))
{
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
if (rb0 != null)
{
rb0.InternalApplyImpulse(frictionConstraint2.m_contactNormal * rb0.GetInvMass(), frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse,"SetFriction-rb0");
}
if (rb1 != null)
{
rb1.InternalApplyImpulse(frictionConstraint2.m_contactNormal * rb1.GetInvMass(), -frictionConstraint2.m_angularComponentB, -frictionConstraint2.m_appliedImpulse,"SetFriction-rb1");
}
}
else
{
frictionConstraint2.m_appliedImpulse = 0f;
}
m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1] = frictionConstraint2;
}
}
else
{
SolverConstraint frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
frictionConstraint1.m_appliedImpulse = 0f;
if (TestSolverMode(infoGlobal.m_solverMode, SolverMode.SOLVER_USE_2_FRICTION_DIRECTIONS))
{
SolverConstraint frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1];
frictionConstraint2.m_appliedImpulse = 0f;
m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1] = frictionConstraint2;
}
m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex] = frictionConstraint1;
}
}
public void SetupFrictionConstraint(ref SolverConstraint solverConstraint, ref IndexedVector3 normalAxis, RigidBody solverBodyA, RigidBody solverBodyB,
ManifoldPoint cp, ref IndexedVector3 rel_pos1, ref IndexedVector3 rel_pos2,
CollisionObject colObj0, CollisionObject colObj1, float relaxation)
{
SetupFrictionConstraint(ref solverConstraint, ref normalAxis, solverBodyA, solverBodyB, cp, ref rel_pos1, ref rel_pos2, colObj0, colObj1, relaxation, 0f, 0f);
}
public SolverConstraint AddFrictionConstraint(ref IndexedVector3 normalAxis, RigidBody solverBodyA, RigidBody solverBodyB, int frictionIndex, ManifoldPoint cp, ref IndexedVector3 rel_pos1, ref IndexedVector3 rel_pos2, CollisionObject colObj0, CollisionObject colObj1, float relaxation, float desiredVelocity, float cfmSlip)
{
// will create the object
SolverConstraint solverConstraint = m_tmpSolverContactFrictionConstraintPool[m_tmpSolverContactFrictionConstraintPool.Count];
solverConstraint.Reset();
solverConstraint.m_frictionIndex = frictionIndex;
SetupFrictionConstraint(ref solverConstraint, ref normalAxis, solverBodyA, solverBodyB, cp, ref rel_pos1, ref rel_pos2,
colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
return solverConstraint;
}
protected void SetupContactConstraint(ref SolverConstraint solverConstraint, CollisionObject colObj0, CollisionObject colObj1, ManifoldPoint cp,
ContactSolverInfo infoGlobal, ref IndexedVector3 vel, ref float rel_vel, ref float relaxation,
out IndexedVector3 rel_pos1, out IndexedVector3 rel_pos2)
{
RigidBody rb0 = colObj0 as RigidBody;// RigidBody.Upcast(colObj0);
RigidBody rb1 = colObj1 as RigidBody;//RigidBody.Upcast(colObj1);
IndexedVector3 pos1 = cp.GetPositionWorldOnA();
IndexedVector3 pos2 = cp.GetPositionWorldOnB();
rel_pos1 = pos1 - colObj0.m_worldTransform._origin;
rel_pos2 = pos2 - colObj1.m_worldTransform._origin;
relaxation = 1f;
// cross
IndexedVector3 torqueAxis0 = new IndexedVector3(rel_pos1.Y *cp.m_normalWorldOnB.Z - rel_pos1.Z * cp.m_normalWorldOnB.Y,
rel_pos1.Z *cp.m_normalWorldOnB.X - rel_pos1.X * cp.m_normalWorldOnB.Z,
rel_pos1.X *cp.m_normalWorldOnB.Y - rel_pos1.Y * cp.m_normalWorldOnB.X);
IndexedVector3 torqueAxis1 = new IndexedVector3(rel_pos2.Y *cp.m_normalWorldOnB.Z - rel_pos2.Z * cp.m_normalWorldOnB.Y,
rel_pos2.Z *cp.m_normalWorldOnB.X - rel_pos2.X * cp.m_normalWorldOnB.Z,
rel_pos2.X *cp.m_normalWorldOnB.Y - rel_pos2.Y * cp.m_normalWorldOnB.X);
solverConstraint.m_angularComponentA = rb0 != null ? rb0.GetInvInertiaTensorWorld() * torqueAxis0 * rb0.GetAngularFactor() : IndexedVector3.Zero;
//IndexedVector3 torqueAxis1 = IndexedVector3.Cross(ref rel_pos2, ref cp.m_normalWorldOnB);
solverConstraint.m_angularComponentB = rb1 != null ? rb1.GetInvInertiaTensorWorld() * -torqueAxis1 * rb1.GetAngularFactor() : IndexedVector3.Zero;
//IndexedVector3 torqueAxis0 = IndexedVector3.Cross(ref rel_pos1, ref cp.m_normalWorldOnB);
//solverConstraint.m_angularComponentA = rb0 != null ? rb0.GetInvInertiaTensorWorld() * torqueAxis0 * rb0.GetAngularFactor() : IndexedVector3.Zero;
//IndexedVector3 torqueAxis1 = IndexedVector3.Cross(ref rel_pos2, ref cp.m_normalWorldOnB);
//solverConstraint.m_angularComponentB = rb1 != null ? rb1.GetInvInertiaTensorWorld() * -torqueAxis1 * rb1.GetAngularFactor() : IndexedVector3.Zero;
{
#if COMPUTE_IMPULSE_DENOM
float denom0 = rb0.computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
float denom1 = rb1.computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
#else
IndexedVector3 vec;
float denom0 = 0f;
float denom1 = 0f;
if (rb0 != null)
{
vec = IndexedVector3.Cross(ref solverConstraint.m_angularComponentA, ref rel_pos1);
denom0 = rb0.GetInvMass() + IndexedVector3.Dot(cp.m_normalWorldOnB, vec);
}
if (rb1 != null)
{
vec = IndexedVector3.Cross((-solverConstraint.m_angularComponentB), rel_pos2);
denom1 = rb1.GetInvMass() + IndexedVector3.Dot(cp.m_normalWorldOnB, vec);
}
#endif //COMPUTE_IMPULSE_DENOM
float denom = relaxation / (denom0 + denom1);
MathUtil.SanityCheckFloat(denom);
solverConstraint.m_jacDiagABInv = denom;
}
solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
solverConstraint.m_relpos1CrossNormal = IndexedVector3.Cross(rel_pos1, cp.m_normalWorldOnB);
solverConstraint.m_relpos2CrossNormal = IndexedVector3.Cross(rel_pos2, -cp.m_normalWorldOnB);
IndexedVector3 vel1 = rb0 != null ? rb0.GetVelocityInLocalPoint(ref rel_pos1) : IndexedVector3.Zero;
IndexedVector3 vel2 = rb1 != null ? rb1.GetVelocityInLocalPoint(ref rel_pos2) : IndexedVector3.Zero;
vel = vel1 - vel2;
rel_vel = IndexedVector3.Dot(cp.m_normalWorldOnB, vel);
float penetration = cp.GetDistance() + infoGlobal.m_linearSlop;
solverConstraint.m_friction = cp.GetCombinedFriction();
float restitution = 0f;
if (cp.GetLifeTime() > infoGlobal.m_restingContactRestitutionThreshold)
{
restitution = 0f;
}
else
{
restitution = RestitutionCurve(rel_vel, cp.GetCombinedResitution());
if (restitution <= 0f)
{
restitution = 0f;
}
}
///warm starting (or zero if disabled)
if (TestSolverMode(infoGlobal.m_solverMode, SolverMode.SOLVER_USE_WARMSTARTING))
{
solverConstraint.m_appliedImpulse = cp.GetAppliedImpulse() * infoGlobal.m_warmstartingFactor;
if (rb0 != null)
{
IndexedVector3 contactNormalTemp = solverConstraint.m_contactNormal;
rb0.InternalApplyImpulse(solverConstraint.m_contactNormal * rb0.GetInvMass() * rb0.GetLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse, "SetupContactConstraint-rb0");
}
if (rb1 != null)
{
rb1.InternalApplyImpulse(solverConstraint.m_contactNormal * rb1.GetInvMass() * rb1.GetLinearFactor(), -solverConstraint.m_angularComponentB, -solverConstraint.m_appliedImpulse,"SetupContactConstraint-rb1");
}
}
else
{
solverConstraint.m_appliedImpulse = 0f;
}
solverConstraint.m_appliedPushImpulse = 0f;
{
float rel_vel2 = 0f;
float vel1Dotn = IndexedVector3.Dot(solverConstraint.m_contactNormal, (rb0 != null ? rb0.GetLinearVelocity() : IndexedVector3.Zero))
+ IndexedVector3.Dot(solverConstraint.m_relpos1CrossNormal, (rb0 != null ? rb0.GetAngularVelocity() : IndexedVector3.Zero));
float vel2Dotn = -IndexedVector3.Dot(solverConstraint.m_contactNormal, (rb1 != null ? rb1.GetLinearVelocity() : IndexedVector3.Zero))
+ IndexedVector3.Dot(solverConstraint.m_relpos2CrossNormal, (rb1 != null ? rb1.GetAngularVelocity() : IndexedVector3.Zero));
rel_vel2 = vel1Dotn + vel2Dotn;
float positionalError = 0f;
if (rel_vel2 > 20)
{
int ibreak = 0;
}
float velocityError = restitution - rel_vel2;// * damping;
if (penetration > 0f)
{
positionalError = 0f;
velocityError -= penetration / infoGlobal.m_timeStep;
}
else
{
positionalError = -penetration * infoGlobal.m_erp / infoGlobal.m_timeStep;
}
float penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
float velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
solverConstraint.m_rhsPenetration = 0f;
}
else
{
//split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse;
}
solverConstraint.m_cfm = 0f;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}
}
public void ReplaceContactPoint(ManifoldPoint newPoint, int insertIndex)
{
Debug.Assert(ValidContactDistance(newPoint));
#if MAINTAIN_PERSISTENCY
int lifeTime = m_pointCache[insertIndex].GetLifeTime();
float appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
float appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
float appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
Debug.Assert(lifeTime >= 0);
Object cache = m_pointCache[insertIndex].GetUserPersistentData();
BulletGlobals.ManifoldPointPool.Free(m_pointCache[insertIndex]);
m_pointCache[insertIndex] = newPoint;
m_pointCache[insertIndex].SetUserPersistentData(cache);
m_pointCache[insertIndex].SetAppliedImpulse(appliedImpulse);
m_pointCache[insertIndex].SetAppliedImpulseLateral1(appliedLateralImpulse1);
m_pointCache[insertIndex].SetAppliedImpulseLateral2(appliedLateralImpulse2);
m_pointCache[insertIndex].m_constraintRow[0].m_accumImpulse = appliedImpulse;
m_pointCache[insertIndex].m_constraintRow[1].m_accumImpulse = appliedLateralImpulse1;
m_pointCache[insertIndex].m_constraintRow[2].m_accumImpulse = appliedLateralImpulse2;
m_pointCache[insertIndex].SetLifeTime(lifeTime);
#else
ClearUserCache(ref m_pointCache[insertIndex]);
m_pointCache[insertIndex] = newPoint;
#endif
}
/// sort cached points so most isolated points come first
private int SortCachedPoints(ManifoldPoint pt)
{
//calculate 4 possible cases areas, and take biggest area
//also need to keep 'deepest'
int maxPenetrationIndex = -1;
#if KEEP_DEEPEST_POINT
float maxPenetration = pt.GetDistance();
for (int i = 0; i < m_pointCache.Length; i++)
{
if (m_pointCache[i].GetDistance() < maxPenetration)
{
maxPenetrationIndex = i;
maxPenetration = m_pointCache[i].GetDistance();
}
}
#endif //KEEP_DEEPEST_POINT
float res0 = 0f, res1 = 0f, res2 = 0f, res3 = 0f;
if (maxPenetrationIndex != 0)
{
IndexedVector3 a0 = pt.GetLocalPointA() - m_pointCache[1].GetLocalPointA();
IndexedVector3 b0 = m_pointCache[3].GetLocalPointA() - m_pointCache[2].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a0, b0);
res0 = cross.LengthSquared();
}
if (maxPenetrationIndex != 1)
{
IndexedVector3 a1 = pt.GetLocalPointA() - m_pointCache[0].GetLocalPointA();
IndexedVector3 b1 = m_pointCache[3].GetLocalPointA() - m_pointCache[2].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a1, b1);
res1 = cross.LengthSquared();
}
if (maxPenetrationIndex != 2)
{
IndexedVector3 a2 = pt.GetLocalPointA() - m_pointCache[0].GetLocalPointA();
IndexedVector3 b2 = m_pointCache[3].GetLocalPointA() - m_pointCache[1].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a2, b2);
res2 = cross.LengthSquared();
}
if (maxPenetrationIndex != 3)
{
IndexedVector3 a3 = pt.GetLocalPointA() - m_pointCache[0].GetLocalPointA();
IndexedVector3 b3 = m_pointCache[2].GetLocalPointA() - m_pointCache[1].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a3, b3);
res3 = cross.LengthSquared();
}
IndexedVector4 maxvec = new IndexedVector4(res0, res1, res2, res3);
int biggestarea = MathUtil.ClosestAxis(ref maxvec);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
BulletGlobals.g_streamWriter.WriteLine("sortCachedPoints [{0}]", biggestarea);
}
#endif
return(biggestarea);
}
public bool Callback(ref ManifoldPoint cp, CollisionObject colObj0, int partId0, int index0, CollisionObject colObj1, int partId1, int index1)
{
float friction0 = colObj0.GetFriction();
float friction1 = colObj1.GetFriction();
float restitution0 = colObj0.GetRestitution();
float restitution1 = colObj1.GetRestitution();
if ((colObj0.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
{
friction0 = 1.0f;//partId0,index0
restitution0 = 0.0f;
}
if ((colObj1.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
{
if ((index1&1) != 0)
{
friction1 = 1.0f;//partId1,index1
}
else
{
friction1 = 0f;
}
restitution1 = 0f;
}
cp.m_combinedFriction = CalculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
public abstract float AddSingleResult(ref ManifoldPoint cp, CollisionObject colObj0, int partId0, int index0, CollisionObject colObj1, int partId1, int index1);
public int GetCacheEntry(ManifoldPoint newPoint)
{
//float shortestDist = GetContactBreakingThreshold() * GetContactBreakingThreshold();
float shortestDist = GetContactBreakingThreshold();
shortestDist *= shortestDist;
int size = GetNumContacts();
int nearestPoint = -1;
for (int i = 0; i < size; i++)
{
IndexedVector3 diffA = m_pointCache[i].GetLocalPointA() - newPoint.GetLocalPointA();
float distToManiPoint = diffA.LengthSquared();
if (distToManiPoint < shortestDist)
{
shortestDist = distToManiPoint;
nearestPoint = i;
}
}
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
BulletGlobals.g_streamWriter.WriteLine("getCacheEntry [{0}]", nearestPoint);
}
return nearestPoint;
}
public void ClearUserCache(ref ManifoldPoint pt)
{
Object oldPtr = pt.m_userPersistentData;
if (oldPtr != null)
{
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
int occurance = 0;
for (int i = 0; i < m_cachedPoints; i++)
{
if (m_pointCache[i].m_userPersistentData == oldPtr)
{
occurance++;
if (occurance > 1)
{
BulletGlobals.g_streamWriter.WriteLine("error in clearUserCache\n");
}
}
}
//Debug.Assert(occurance<=0);
}
if (pt.m_userPersistentData != null && gContactDestroyedCallback != null)
{
gContactDestroyedCallback.Callback(pt.m_userPersistentData);
pt.m_userPersistentData = null;
}
DebugPersistency();
}
BulletGlobals.ManifoldPointPool.Free(pt);
pt = null;
}
public int FindContactPoint(ref ManifoldPoint unUsed, int numUnused, ref ManifoldPoint pt)
{
return(0);
}
/// sort cached points so most isolated points come first
private int SortCachedPoints(ManifoldPoint pt)
{
//calculate 4 possible cases areas, and take biggest area
//also need to keep 'deepest'
int maxPenetrationIndex = -1;
#if KEEP_DEEPEST_POINT
float maxPenetration = pt.GetDistance();
for (int i = 0; i < m_pointCache.Length; i++)
{
if (m_pointCache[i].GetDistance() < maxPenetration)
{
maxPenetrationIndex = i;
maxPenetration = m_pointCache[i].GetDistance();
}
}
#endif //KEEP_DEEPEST_POINT
float res0 = 0f, res1 = 0f, res2 = 0f, res3 = 0f;
if (maxPenetrationIndex != 0)
{
IndexedVector3 a0 = pt.GetLocalPointA() - m_pointCache[1].GetLocalPointA();
IndexedVector3 b0 = m_pointCache[3].GetLocalPointA() - m_pointCache[2].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a0, b0);
res0 = cross.LengthSquared();
}
if (maxPenetrationIndex != 1)
{
IndexedVector3 a1 = pt.GetLocalPointA() - m_pointCache[0].GetLocalPointA();
IndexedVector3 b1 = m_pointCache[3].GetLocalPointA() - m_pointCache[2].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a1, b1);
res1 = cross.LengthSquared();
}
if (maxPenetrationIndex != 2)
{
IndexedVector3 a2 = pt.GetLocalPointA() - m_pointCache[0].GetLocalPointA();
IndexedVector3 b2 = m_pointCache[3].GetLocalPointA() - m_pointCache[1].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a2, b2);
res2 = cross.LengthSquared();
}
if (maxPenetrationIndex != 3)
{
IndexedVector3 a3 = pt.GetLocalPointA() - m_pointCache[0].GetLocalPointA();
IndexedVector3 b3 = m_pointCache[2].GetLocalPointA() - m_pointCache[1].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a3, b3);
res3 = cross.LengthSquared();
}
IndexedVector4 maxvec = new IndexedVector4(res0, res1, res2, res3);
int biggestarea = MathUtil.ClosestAxis(ref maxvec);
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
BulletGlobals.g_streamWriter.WriteLine("sortCachedPoints [{0}]", biggestarea);
}
return biggestarea;
}
public bool ValidContactDistance(ManifoldPoint pt)
{
return pt.m_distance1 <= GetContactBreakingThreshold();
}
public void SetupFrictionConstraint(ref SolverConstraint solverConstraint, ref IndexedVector3 normalAxis, RigidBody solverBodyA, RigidBody solverBodyB,
ManifoldPoint cp, ref IndexedVector3 rel_pos1, ref IndexedVector3 rel_pos2,
CollisionObject colObj0, CollisionObject colObj1, float relaxation,
float desiredVelocity, float cfmSlip)
{
RigidBody body0 = RigidBody.Upcast(colObj0);
RigidBody body1 = RigidBody.Upcast(colObj1);
solverConstraint.m_contactNormal = normalAxis;
solverConstraint.m_solverBodyA = body0 != null ? body0 : GetFixedBody();
solverConstraint.m_solverBodyB = body1 != null ? body1 : GetFixedBody();
solverConstraint.m_friction = cp.GetCombinedFriction();
#if DEBUG
if (BulletGlobals.g_streamWriter != null && (body0 != null || body1 != null) && BulletGlobals.debugSolver)
{
BulletGlobals.g_streamWriter.WriteLine("SetupFrictionConstraint[{0}][{1}]", (String)solverConstraint.m_solverBodyA.GetUserPointer(), (String)solverConstraint.m_solverBodyB.GetUserPointer());
MathUtil.PrintContactPoint(BulletGlobals.g_streamWriter, cp);
}
#endif
solverConstraint.m_originalContactPoint = null;
//solverConstraint.m_originalContactPointConstraint = null;
solverConstraint.m_appliedImpulse = 0f;
solverConstraint.m_appliedPushImpulse = 0f;
{
IndexedVector3 ftorqueAxis1 = IndexedVector3.Cross(rel_pos1, solverConstraint.m_contactNormal);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 != null ? body0.GetInvInertiaTensorWorld() * ftorqueAxis1 * body0.GetAngularFactor() : IndexedVector3.Zero;
}
{
IndexedVector3 ftorqueAxis1 = IndexedVector3.Cross(rel_pos2, -solverConstraint.m_contactNormal);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 != null ? body1.GetInvInertiaTensorWorld() * ftorqueAxis1 * body1.GetAngularFactor() : IndexedVector3.Zero;
}
#if COMPUTE_IMPULSE_DENOM
float denom0 = rb0.computeImpulseDenominator(pos1,solverConstraint.m_contactNormal);
float denom1 = rb1.computeImpulseDenominator(pos2,solverConstraint.m_contactNormal);
#else
IndexedVector3 vec;
float denom0 = 0f;
float denom1 = 0f;
if (body0 != null)
{
vec = IndexedVector3.Cross(solverConstraint.m_angularComponentA, rel_pos1);
denom0 = body0.GetInvMass() + IndexedVector3.Dot(normalAxis, vec);
}
if (body1 != null)
{
vec = IndexedVector3.Cross(-solverConstraint.m_angularComponentB, rel_pos2);
denom1 = body1.GetInvMass() + IndexedVector3.Dot(normalAxis, vec);
}
#endif //COMPUTE_IMPULSE_DENOM
float denom = relaxation / (denom0 + denom1);
solverConstraint.m_jacDiagABInv = denom;
MathUtil.SanityCheckFloat(solverConstraint.m_jacDiagABInv);
#if _USE_JACOBIAN
solverConstraint.m_jac = new JacobianEntry (
ref rel_pos1,ref rel_pos2,ref solverConstraint.m_contactNormal,
body0.getInvInertiaDiagLocal(),
body0.getInvMass(),
body1.getInvInertiaDiagLocal(),
body1.getInvMass());
#endif //_USE_JACOBIAN
{
float rel_vel;
float vel1Dotn = IndexedVector3.Dot(solverConstraint.m_contactNormal, body0 != null ? body0.GetLinearVelocity() : IndexedVector3.Zero)
+ IndexedVector3.Dot(solverConstraint.m_relpos1CrossNormal, body0 != null ? body0.GetAngularVelocity() : IndexedVector3.Zero);
float vel2Dotn = -IndexedVector3.Dot(solverConstraint.m_contactNormal, body1 != null ? body1.GetLinearVelocity() : IndexedVector3.Zero)
+ IndexedVector3.Dot(solverConstraint.m_relpos2CrossNormal, body1 != null ? body1.GetAngularVelocity() : IndexedVector3.Zero);
rel_vel = vel1Dotn + vel2Dotn;
//float positionalError = 0f;
float velocityError = desiredVelocity - rel_vel;
float damper = 1f;
float velocityImpulse = (velocityError * solverConstraint.m_jacDiagABInv) * damper;
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_cfm = cfmSlip;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}
}
public int FindContactPoint(ref ManifoldPoint unUsed, int numUnused, ref ManifoldPoint pt)
{
return 0;
}
public virtual void AddContactPoint(ref IndexedVector3 normalOnBInWorld, ref IndexedVector3 pointInWorld, float depth)
{
Debug.Assert(m_manifoldPtr != null);
//order in manifold needs to match
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugManifoldResult)
{
BulletGlobals.g_streamWriter.WriteLine("AddContactPoint depth[{0}]", depth);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "normalOnBInWorld", normalOnBInWorld);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "pointInWorld", pointInWorld);
}
#endif
//if (depth > m_manifoldPtr.GetContactProcessingThreshold())
if (depth > m_manifoldPtr.GetContactBreakingThreshold())
{
return;
}
bool isSwapped = m_manifoldPtr.GetBody0() != m_body0;
IndexedVector3 pointA = pointInWorld + normalOnBInWorld * depth;
IndexedVector3 localA;
IndexedVector3 localB;
if (isSwapped)
{
MathUtil.InverseTransform(ref m_rootTransB, ref pointA, out localA);
MathUtil.InverseTransform(ref m_rootTransA, ref pointInWorld, out localB);
}
else
{
MathUtil.InverseTransform(ref m_rootTransA, ref pointA, out localA);
MathUtil.InverseTransform(ref m_rootTransB, ref pointInWorld, out localB);
}
ManifoldPoint newPt = BulletGlobals.ManifoldPointPool.Get();
newPt.Initialise(ref localA, ref localB, ref normalOnBInWorld, depth);
newPt.SetPositionWorldOnA(ref pointA);
newPt.SetPositionWorldOnB(ref pointInWorld);
int insertIndex = m_manifoldPtr.GetCacheEntry(newPt);
newPt.SetCombinedFriction(CalculateCombinedFriction(m_body0, m_body1));
newPt.SetCombinedRestitution(CalculateCombinedRestitution(m_body0, m_body1));
//BP mod, store contact triangles.
if (isSwapped)
{
newPt.m_partId0 = m_partId1;
newPt.m_partId1 = m_partId0;
newPt.m_index0 = m_index1;
newPt.m_index1 = m_index0;
}
else
{
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugManifoldResult)
{
MathUtil.PrintContactPoint(BulletGlobals.g_streamWriter, newPt);
}
#endif
//printf("depth=%f\n",depth);
///@todo, check this for any side effects
if (insertIndex >= 0)
{
//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
m_manifoldPtr.ReplaceContactPoint(newPt, insertIndex);
}
else
{
insertIndex = m_manifoldPtr.AddManifoldPoint(newPt);
}
//User can override friction and/or restitution
if (BulletGlobals.gContactAddedCallback != null &&
//and if either of the two bodies requires custom material
((m_body0.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0 ||
(m_body1.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0))
{
//experimental feature info, for per-triangle material etc.
CollisionObject obj0 = isSwapped ? m_body1 : m_body0;
CollisionObject obj1 = isSwapped ? m_body0 : m_body1;
//gContactAddedCallback.callback(m_manifoldPtr.getContactPoint(insertIndex),obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
ManifoldPoint point = m_manifoldPtr.GetContactPoint(insertIndex);
BulletGlobals.gContactAddedCallback.Callback(ref point, obj0, newPt.m_partId0, newPt.m_index0, obj1, newPt.m_partId1, newPt.m_index1);
}
}
public bool ValidContactDistance(ManifoldPoint pt)
{
return(pt.m_distance1 <= GetContactBreakingThreshold());
}
public bool Callback(ref ManifoldPoint cp, CollisionObject colObj0, int partId0, int index0, CollisionObject colObj1, int partId1, int index1)
{
bool enable = true;
if (enable)
{
InternalEdgeUtility.AdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1,BulletXNA.BulletCollision.CollisionDispatch.InternalEdgeUtility.InternalEdgeAdjustFlags.BT_TRIANGLE_CONVEX_BACKFACE_NONE);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
}
float friction0 = colObj0.GetFriction();
float friction1 = colObj1.GetFriction();
float restitution0 = colObj0.GetRestitution();
float restitution1 = colObj1.GetRestitution();
if ((colObj0.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
{
friction0 = 1.0f;//partId0,index0
restitution0 = 0.0f;
}
if ((colObj1.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
{
if ((index1&1) != 0)
{
friction1 = 1.0f;//partId1,index1
}
else
{
friction1 = 0.0f;
}
restitution1 = 0.0f;
}
cp.m_combinedFriction = CalculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = CalculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
public int AddManifoldPoint(ManifoldPoint newPoint)
{
Debug.Assert(ValidContactDistance(newPoint));
int insertIndex = GetNumContacts();
if (insertIndex == MANIFOLD_CACHE_SIZE)
{
if (MANIFOLD_CACHE_SIZE >= 4)
{
//sort cache so best points come first, based on area
insertIndex = SortCachedPoints(newPoint);
}
else
{
insertIndex = 0;
}
ClearUserCache(ref m_pointCache[insertIndex]);
}
else
{
m_cachedPoints++;
}
if (insertIndex < 0)
{
insertIndex = 0;
}
//Debug.Assert(m_pointCache[insertIndex].GetUserPersistentData() == null);
m_pointCache[insertIndex] = newPoint;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
BulletGlobals.g_streamWriter.WriteLine("addManifoldPoint[{0}][{1}]",insertIndex,m_cachedPoints);
MathUtil.PrintContactPoint(BulletGlobals.g_streamWriter, newPoint);
}
return insertIndex;
}
